WRT manifolds, typically you'd have a single draw and a single return P&S, with a manifold that switches which tank you are drawing from and distributes it to the consumers.
You've already said you want to maintain tank independence. That means you need a similar manifold for the return lines to ensure that you're never inadvertently drawing from one side and returning to the other. You can't have any returns connected directly to the tank.
WRT sumps, one per tank is ideal, but one per side is better than none. If I had one I'd want the fuel pickup to be in the same tank.
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